<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/ourcvfh_estimator.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('ourcvfh__estimator_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">ourcvfh_estimator.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * vfh_estimator.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 22, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef REC_FRAMEWORK_OURCVFH_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define REC_FRAMEWORK_OURCVFH_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/feature_wrapper/global/global_estimator.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/feature_wrapper/normal_estimator.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;pcl/features/our_cvfh.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/mls.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">namespace </span>rec_3d_framework</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  {</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_o_u_r_c_v_f_h_estimator.html">   21</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_o_u_r_c_v_f_h_estimator.html">OURCVFHEstimator</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator</a>&lt;PointInT, FeatureT&gt;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      {</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator&lt;PointInT, FeatureT&gt;::normal_estimator_</a>;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator&lt;PointInT, FeatureT&gt;::normals_</a>;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        <span class="keywordtype">float</span> eps_angle_threshold_;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        <span class="keywordtype">float</span> curvature_threshold_;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        <span class="keywordtype">float</span> cluster_tolerance_factor_;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <span class="keywordtype">bool</span> normalize_bins_;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        <span class="keywordtype">bool</span> adaptative_MLS_;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        <span class="keywordtype">float</span> refine_factor_;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        std::vector&lt;bool&gt; valid_roll_transforms_;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; transforms_;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        std::vector&lt;pcl::PointIndices&gt; cluster_indices_;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_o_u_r_c_v_f_h_estimator.html">OURCVFHEstimator</a> ()</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        {</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;          eps_angle_threshold_ = 0.13f;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;          curvature_threshold_ = 0.035f;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;          normalize_bins_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;          cluster_tolerance_factor_ = 3.f;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;          adaptative_MLS_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        }</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        setCVFHParams (<span class="keywordtype">float</span> p1, <span class="keywordtype">float</span> p2, <span class="keywordtype">float</span> p3)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;          eps_angle_threshold_ = p1;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;          curvature_threshold_ = p2;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;          cluster_tolerance_factor_ = p3;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        setAdaptativeMLS (<span class="keywordtype">bool</span> b)</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;          adaptative_MLS_ = b;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        }</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        setRefineClustersParam (<span class="keywordtype">float</span> p4)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;          refine_factor_ = p4;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        getValidTransformsVec (std::vector&lt;bool&gt; &amp; valid)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          valid = valid_roll_transforms_;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        getTransformsVec (std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &amp; trans)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          trans = transforms_;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        estimate (PointInTPtr &amp; in, PointInTPtr &amp; processed, <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::CloudVectorType &amp; signatures,</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                  std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp; centroids)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          valid_roll_transforms_.clear ();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          transforms_.clear ();</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          <span class="keywordflow">if</span> (!normal_estimator_)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            PCL_ERROR(<span class="stringliteral">&quot;This feature needs normals... please provide a normal estimator\n&quot;</span>);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <a class="code" href="classpcl_1_1_moving_least_squares.html">pcl::MovingLeastSquares&lt;PointInT, PointInT&gt;</a> mls;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          <span class="keywordflow">if</span> (adaptative_MLS_)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            <span class="keyword">typename</span> search::KdTree&lt;PointInT&gt;::Ptr tree;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            Eigen::Vector4f centroid_cluster;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a> (*in, centroid_cluster);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            <span class="keywordtype">float</span> dist_to_sensor = centroid_cluster.norm ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            <span class="keywordtype">float</span> sigma = dist_to_sensor * 0.01f;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            mls.<a class="code" href="classpcl_1_1_moving_least_squares.html#ab0865f62d90c9fb0f45dd96e587fe84e">setSearchMethod</a> (tree);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            mls.<a class="code" href="classpcl_1_1_moving_least_squares.html#ae5e4d16c7aae631ef02bf1ee843bd55e">setSearchRadius</a> (sigma);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            mls.<a class="code" href="classpcl_1_1_moving_least_squares.html#ac29ad97b98353d64ce64e2ff924f7d20">setUpsamplingMethod</a> (mls.SAMPLE_LOCAL_PLANE);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            mls.<a class="code" href="classpcl_1_1_moving_least_squares.html#a8efa7671c4b24700c2f22f63affdce9b">setUpsamplingRadius</a> (0.002);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            mls.<a class="code" href="classpcl_1_1_moving_least_squares.html#ac2c814527e15d4d3ff9a5ba5864b842d">setUpsamplingStepSize</a> (0.001);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          normals_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a>);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            normal_estimator_-&gt;estimate (in, processed, normals_);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          <span class="keywordflow">if</span> (adaptative_MLS_)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            mls.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (processed);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            PointInTPtr filtered (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            mls.<a class="code" href="classpcl_1_1_moving_least_squares.html#ad168be16626ea58d1c31c321bd1d980f">process</a> (*filtered);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            processed.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            normals_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a>);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;              filtered-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;              normal_estimator_-&gt;estimate (filtered, processed, normals_);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          <span class="comment">/*normals_.reset(new pcl::PointCloud&lt;pcl::Normal&gt;);</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="comment">           normal_estimator_-&gt;estimate (in, processed, normals_);*/</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html">pcl::OURCVFHEstimation&lt;PointInT, pcl::Normal, pcl::VFHSignature308&gt;</a> <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html">OURCVFHEstimation</a>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::VFHSignature308&gt;</a> cvfh_signatures;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="keyword">typename</span> pcl::search::KdTree&lt;PointInT&gt;::Ptr cvfh_tree (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          <a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html">OURCVFHEstimation</a> cvfh;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">setSearchMethod</a> (cvfh_tree);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (processed);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">setInputNormals</a> (normals_);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ad837a0a88f097855a21c8a0538b0331a">setEPSAngleThreshold</a> (eps_angle_threshold_);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#abfc00a0b87aebc2dd03169a50f300ca1">setCurvatureThreshold</a> (curvature_threshold_);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a0c8c3ba81fac4e6bdeac8feb1668db88">setNormalizeBins</a> (normalize_bins_);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a89f8c0f95e9e4e1e783ef7ebece3a7bd">setRefineClusters</a>(refine_factor_);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          <span class="keywordtype">float</span> radius = normal_estimator_-&gt;normal_radius_;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <span class="keywordtype">float</span> cluster_tolerance_radius = normal_estimator_-&gt;grid_resolution_ * cluster_tolerance_factor_;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <span class="keywordflow">if</span> (normal_estimator_-&gt;compute_mesh_resolution_)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            radius = normal_estimator_-&gt;mesh_resolution_ * normal_estimator_-&gt;factor_normals_;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            cluster_tolerance_radius = normal_estimator_-&gt;mesh_resolution_ * cluster_tolerance_factor_;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;            <span class="keywordflow">if</span> (normal_estimator_-&gt;do_voxel_grid_)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;              radius *= normal_estimator_-&gt;factor_voxel_grid_;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;              cluster_tolerance_radius *= normal_estimator_-&gt;factor_voxel_grid_;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;            }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a04693601520d483097092d0558cc4768">setClusterTolerance</a> (cluster_tolerance_radius);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a542ecd0090fdc1c2b0c40b1b24e1e0e7">setRadiusNormals</a> (radius);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8b88a95ee93275a2603fca8a2adf5d47">setMinPoints</a> (100);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a75bbfd331a8bff6f0af23348afc5fe26">compute</a> (cvfh_signatures);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <span class="comment">//std::cout &lt;&lt; &quot;Res:&quot; &lt;&lt; normal_estimator_-&gt;mesh_resolution_ &lt;&lt; &quot; Radius normals:&quot; &lt;&lt; radius &lt;&lt; &quot; Cluster tolerance:&quot; &lt;&lt; cluster_tolerance_radius &lt;&lt; &quot; &quot; &lt;&lt; eps_angle_threshold_ &lt;&lt; &quot; &quot; &lt;&lt; curvature_threshold_ &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cvfh_signatures.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;          {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a> vfh_signature;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            vfh_signature.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (1);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            vfh_signature.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = vfh_signature.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; 308; ++d)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;              vfh_signature.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[d] = cvfh_signatures.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].histogram[d];</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;            signatures.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (vfh_signature);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a45c4c30da8c5fdcb4d91d7513f893f4e">getCentroidClusters</a> (centroids);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a589f641535158342769b1e5ef5483dc3">getTransforms</a>(transforms_);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a120c432a2c273f2f9ad6ffed190e601b">getValidTransformsVec</a>(valid_roll_transforms_);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          cvfh.<a class="code" href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ac757ebe9646a8095dbad0022656cf82b">getClusterIndices</a>(cluster_indices_);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        computedNormals ()</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        setNormalizeBins (<span class="keywordtype">bool</span> b)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          normalize_bins_ = b;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      };</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;}</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* REC_FRAMEWORK_OURCVFH_ESTIMATOR_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_a349685ac9deb723502de9f399d0286dc"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">pcl::FeatureFromNormals::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset....</div><div class="ttdef"><b>Definition:</b> feature.h:344</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ace1caca622f06eee8ad1911228324792"><div class="ttname"><a href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">pcl::Feature::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> feature.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html">pcl::MovingLeastSquares</a></div><div class="ttdoc">MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data s...</div><div class="ttdef"><b>Definition:</b> mls.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_a8efa7671c4b24700c2f22f63affdce9b"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#a8efa7671c4b24700c2f22f63affdce9b">pcl::MovingLeastSquares::setUpsamplingRadius</a></div><div class="ttdeci">void setUpsamplingRadius(double radius)</div><div class="ttdoc">Set the radius of the circle in the local point plane that will be sampled</div><div class="ttdef"><b>Definition:</b> mls.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ab0865f62d90c9fb0f45dd96e587fe84e"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ab0865f62d90c9fb0f45dd96e587fe84e">pcl::MovingLeastSquares::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> mls.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ac29ad97b98353d64ce64e2ff924f7d20"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ac29ad97b98353d64ce64e2ff924f7d20">pcl::MovingLeastSquares::setUpsamplingMethod</a></div><div class="ttdeci">void setUpsamplingMethod(UpsamplingMethod method)</div><div class="ttdoc">Set the upsampling method to be used</div><div class="ttdef"><b>Definition:</b> mls.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ac2c814527e15d4d3ff9a5ba5864b842d"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ac2c814527e15d4d3ff9a5ba5864b842d">pcl::MovingLeastSquares::setUpsamplingStepSize</a></div><div class="ttdeci">void setUpsamplingStepSize(double step_size)</div><div class="ttdoc">Set the step size for the local plane sampling</div><div class="ttdef"><b>Definition:</b> mls.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ad168be16626ea58d1c31c321bd1d980f"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ad168be16626ea58d1c31c321bd1d980f">pcl::MovingLeastSquares::process</a></div><div class="ttdeci">void process(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for surface reconstruction for all points given in &lt;setInputCloud (), setIndices ()&gt;</div><div class="ttdef"><b>Definition:</b> mls.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_moving_least_squares_html_ae5e4d16c7aae631ef02bf1ee843bd55e"><div class="ttname"><a href="classpcl_1_1_moving_least_squares.html#ae5e4d16c7aae631ef02bf1ee843bd55e">pcl::MovingLeastSquares::setSearchRadius</a></div><div class="ttdeci">void setSearchRadius(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting.</div><div class="ttdef"><b>Definition:</b> mls.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html">pcl::OURCVFHEstimation</a></div><div class="ttdoc">OURCVFHEstimation estimates the Oriented, Unique and Repetable Clustered Viewpoint Feature Histogram ...</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a04693601520d483097092d0558cc4768"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a04693601520d483097092d0558cc4768">pcl::OURCVFHEstimation::setClusterTolerance</a></div><div class="ttdeci">void setClusterTolerance(float d)</div><div class="ttdoc">Sets max. Euclidean distance between points to be added to the cluster</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:216</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a0c8c3ba81fac4e6bdeac8feb1668db88"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a0c8c3ba81fac4e6bdeac8feb1668db88">pcl::OURCVFHEstimation::setNormalizeBins</a></div><div class="ttdeci">void setNormalizeBins(bool normalize)</div><div class="ttdoc">Sets wether if the signatures should be normalized or not</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:252</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a120c432a2c273f2f9ad6ffed190e601b"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a120c432a2c273f2f9ad6ffed190e601b">pcl::OURCVFHEstimation::getValidTransformsVec</a></div><div class="ttdeci">void getValidTransformsVec(std::vector&lt; bool &gt; &amp;valid)</div><div class="ttdoc">Returns a boolean vector indicating of the transformation obtained by getTransforms() represents a va...</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:298</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a45c4c30da8c5fdcb4d91d7513f893f4e"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a45c4c30da8c5fdcb4d91d7513f893f4e">pcl::OURCVFHEstimation::getCentroidClusters</a></div><div class="ttdeci">void getCentroidClusters(std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;centroids)</div><div class="ttdoc">Get the centroids used to compute different CVFH descriptors</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a542ecd0090fdc1c2b0c40b1b24e1e0e7"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a542ecd0090fdc1c2b0c40b1b24e1e0e7">pcl::OURCVFHEstimation::setRadiusNormals</a></div><div class="ttdeci">void setRadiusNormals(float radius_normals)</div><div class="ttdoc">Set the radius used to compute normals</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a589f641535158342769b1e5ef5483dc3"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a589f641535158342769b1e5ef5483dc3">pcl::OURCVFHEstimation::getTransforms</a></div><div class="ttdeci">void getTransforms(std::vector&lt; Eigen::Matrix4f, Eigen::aligned_allocator&lt; Eigen::Matrix4f &gt; &gt; &amp;trans)</div><div class="ttdoc">Returns the transformations aligning the point cloud to the corresponding SGURF</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:288</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a75bbfd331a8bff6f0af23348afc5fe26"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a75bbfd331a8bff6f0af23348afc5fe26">pcl::OURCVFHEstimation::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Overloaded computed method from pcl::Feature.</div><div class="ttdef"><b>Definition:</b> our_cvfh.hpp:52</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a89f8c0f95e9e4e1e783ef7ebece3a7bd"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a89f8c0f95e9e4e1e783ef7ebece3a7bd">pcl::OURCVFHEstimation::setRefineClusters</a></div><div class="ttdeci">void setRefineClusters(float rc)</div><div class="ttdoc">Sets the refinement factor for the clusters</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:279</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_a8b88a95ee93275a2603fca8a2adf5d47"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#a8b88a95ee93275a2603fca8a2adf5d47">pcl::OURCVFHEstimation::setMinPoints</a></div><div class="ttdeci">void setMinPoints(size_t min)</div><div class="ttdoc">Set minimum amount of points for a cluster to be considered</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:243</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_abfc00a0b87aebc2dd03169a50f300ca1"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#abfc00a0b87aebc2dd03169a50f300ca1">pcl::OURCVFHEstimation::setCurvatureThreshold</a></div><div class="ttdeci">void setCurvatureThreshold(float d)</div><div class="ttdoc">Sets curvature threshold for removing normals</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:234</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_ac757ebe9646a8095dbad0022656cf82b"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ac757ebe9646a8095dbad0022656cf82b">pcl::OURCVFHEstimation::getClusterIndices</a></div><div class="ttdeci">void getClusterIndices(std::vector&lt; pcl::PointIndices &gt; &amp;indices)</div><div class="ttdoc">Gets the indices of the original point cloud used to compute the signatures</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:261</div></div>
<div class="ttc" id="aclasspcl_1_1_o_u_r_c_v_f_h_estimation_html_ad837a0a88f097855a21c8a0538b0331a"><div class="ttname"><a href="classpcl_1_1_o_u_r_c_v_f_h_estimation.html#ad837a0a88f097855a21c8a0538b0331a">pcl::OURCVFHEstimation::setEPSAngleThreshold</a></div><div class="ttdeci">void setEPSAngleThreshold(float d)</div><div class="ttdoc">Sets max. deviation of the normals between two points so they can be clustered together</div><div class="ttdef"><b>Definition:</b> our_cvfh.h:225</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::Normal &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_estimator_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">pcl::rec_3d_framework::GlobalEstimator</a></div><div class="ttdef"><b>Definition:</b> global_estimator.h:18</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_o_u_r_c_v_f_h_estimator_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_o_u_r_c_v_f_h_estimator.html">pcl::rec_3d_framework::OURCVFHEstimator</a></div><div class="ttdef"><b>Definition:</b> ourcvfh_estimator.h:22</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_9654b8d08f4bba4e84b362c5fd320bee.html">apps</a></li><li class="navelem"><a class="el" href="dir_f8ac343176a52bf6587be0569c3aa125.html">3d_rec_framework</a></li><li class="navelem"><a class="el" href="dir_de9044d6790f4434d1c0a02c3fc81ba1.html">include</a></li><li class="navelem"><a class="el" href="dir_30529131b4f82d7d0e665e671b18589a.html">pcl</a></li><li class="navelem"><a class="el" href="dir_fef2c86520cb9dd301933a20ef4c16db.html">apps</a></li><li class="navelem"><a class="el" href="dir_de6fa87065cfc5d8433ac6452d0637c2.html">3d_rec_framework</a></li><li class="navelem"><a class="el" href="dir_15904b3548cff019c02c2053abfaab4f.html">feature_wrapper</a></li><li class="navelem"><a class="el" href="dir_6a07df37e551a09cdc41e422a9c65367.html">global</a></li><li class="navelem"><b>ourcvfh_estimator.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
